论文标题

多代理网络中弹性矢量共识的弹性和准确性之间的相互作用

Interplay Between Resilience and Accuracy in Resilient Vector Consensus in Multi-Agent Networks

论文作者

Abbas, Waseem, Shabbir, Mudassir, Li, Jiani, Koutsoukos, Xenofon

论文摘要

在本文中,我们研究了弹性分布的多维共识问题的弹性和准确性之间的关系。我们考虑一个代理网络,每个代理都具有$ \ mathbb {r}^d $中的状态。网络中的某些代理是对抗性的,可以任意改变其状态。普通的(非对抗性)代理在本地互动并更新其状态以在其初始状态的凸船体$ \ carc $中的某个时候达成共识。如果普通代理附近的对手数量小于特定值,这是本地连通性和状态尺寸$ d $的函数,则可以实现此目标。但是,要对对手有弹性,尤其是在大$ d $的情况下,所需的本地连通性很大。我们讨论,如果允许普通代理在有限的区域$ \ calb \ supseteq \ calc $中收敛,则可以提高针对对抗剂的弹性,这意味着在最坏的情况下,正常代理在某个点接近但不一定在$ \ calc $内部收敛。可以通过$ \ calb $和$ \ calc $之间的Hausdorff距离来衡量弹性共识的准确性。结果,可以以准确的成本来提高弹性。我们提出了一种有弹性的共识算法,该算法通过将$ d $维状态预测到较低的维度,然后解决较低维度的弹性共识实例,从而利用弹性和准确性之间的权衡。我们分析算法,呈现各种弹性和准确性界限,并在数值上评估我们的结果。

In this paper, we study the relationship between resilience and accuracy in the resilient distributed multi-dimensional consensus problem. We consider a network of agents, each of which has a state in $\mathbb{R}^d$. Some agents in the network are adversarial and can change their states arbitrarily. The normal (non-adversarial) agents interact locally and update their states to achieve consensus at some point in the convex hull $\calC$ of their initial states. This objective is achievable if the number of adversaries in the neighborhood of normal agents is less than a specific value, which is a function of the local connectivity and the state dimension $d$. However, to be resilient against adversaries, especially in the case of large $d$, the desired local connectivity is large. We discuss that resilience against adversarial agents can be improved if normal agents are allowed to converge in a bounded region $\calB\supseteq\calC$, which means normal agents converge at some point close to but not necessarily inside $\calC$ in the worst case. The accuracy of resilient consensus can be measured by the Hausdorff distance between $\calB$ and $\calC$. As a result, resilience can be improved at the cost of accuracy. We propose a resilient bounded consensus algorithm that exploits the trade-off between resilience and accuracy by projecting $d$-dimensional states into lower dimensions and then solving instances of resilient consensus in lower dimensions. We analyze the algorithm, present various resilience and accuracy bounds, and also numerically evaluate our results.

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